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What you want to do is possible. Just subscribe to the /tf topic. You will have to do your own filtering on when the new skeleton data is included in the topic vs other things on the topic.

I'll note that if you subscribe to the raw topic you will have to write the synchronization code yourself. If you use the listener it will do all of that for you. If you're just going to be streaming data the above approach might work w/o synchronization.